817 lines
33 KiB
C#
817 lines
33 KiB
C#
/*
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Copyright (c) 2020 Omar Duarte
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Unauthorized copying of this file, via any medium is strictly prohibited.
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Modified by Omar Duarte, 2020.
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This file incorporates work covered by the following copyright and
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permission notice:
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Copyright (c) 2014, Nition, BSD licence. All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System.Linq;
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using UnityEngine;
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namespace PluginMaster
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{
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// A node in a PointOctree
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public class PointOctreeNode<T>
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{
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// Centre of this node
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public Vector3 Center { get; private set; }
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// Length of the sides of this node
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public float SideLength { get; private set; }
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// Minimum size for a node in this octree
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float minSize;
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// Bounding box that represents this node
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Bounds bounds = default(Bounds);
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// Objects in this node
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readonly System.Collections.Generic.List<OctreeObject> objects = new System.Collections.Generic.List<OctreeObject>();
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// Child nodes, if any
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PointOctreeNode<T>[] children = null;
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bool HasChildren { get { return children != null; } }
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// bounds of potential children to this node. These are actual size (with looseness taken into account), not base size
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Bounds[] childBounds;
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// If there are already NUM_OBJECTS_ALLOWED in a node, we split it into children
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// A generally good number seems to be something around 8-15
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const int NUM_OBJECTS_ALLOWED = 8;
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// For reverting the bounds size after temporary changes
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Vector3 actualBoundsSize;
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// An object in the octree
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class OctreeObject
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{
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public T Obj;
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public Vector3 Pos;
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}
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/// <summary>
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/// Constructor.
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/// </summary>
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/// <param name="baseLengthVal">Length of this node, not taking looseness into account.</param>
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/// <param name="minSizeVal">Minimum size of nodes in this octree.</param>
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/// <param name="centerVal">Centre position of this node.</param>
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public PointOctreeNode(float baseLengthVal, float minSizeVal, Vector3 centerVal)
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{
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SetValues(baseLengthVal, minSizeVal, centerVal);
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}
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// #### PUBLIC METHODS ####
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/// <summary>
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/// Add an object.
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/// </summary>
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/// <param name="obj">Object to add.</param>
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/// <param name="objPos">Position of the object.</param>
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/// <returns></returns>
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public bool Add(T obj, Vector3 objPos)
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{
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if (!Encapsulates(bounds, objPos))
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{
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return false;
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}
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SubAdd(obj, objPos);
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return true;
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}
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/// <summary>
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/// Remove an object. Makes the assumption that the object only exists once in the tree.
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/// </summary>
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/// <param name="obj">Object to remove.</param>
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/// <returns>True if the object was removed successfully.</returns>
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public bool Remove(T obj)
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{
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bool removed = false;
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for (int i = 0; i < objects.Count; i++)
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{
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if (objects[i].Obj.Equals(obj))
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{
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removed = objects.Remove(objects[i]);
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break;
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}
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}
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if (!removed && children != null)
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{
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for (int i = 0; i < 8; i++)
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{
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removed = children[i].Remove(obj);
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if (removed) break;
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}
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}
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if (removed && children != null)
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{
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// Check if we should merge nodes now that we've removed an item
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if (ShouldMerge())
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{
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Merge();
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}
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}
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return removed;
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}
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/// <summary>
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/// Removes the specified object at the given position. Makes the assumption that the object only exists once in the tree.
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/// </summary>
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/// <param name="obj">Object to remove.</param>
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/// <param name="objPos">Position of the object.</param>
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/// <returns>True if the object was removed successfully.</returns>
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public bool Remove(T obj, Vector3 objPos)
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{
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if (!Encapsulates(bounds, objPos))
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{
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return false;
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}
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return SubRemove(obj, objPos);
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}
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/// <summary>
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/// Return objects that are within maxDistance of the specified ray.
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/// </summary>
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/// <param name="ray">The ray.</param>
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/// <param name="maxDistance">Maximum distance from the ray to consider.</param>
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/// <param name="result">List result.</param>
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/// <returns>Objects within range.</returns>
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public void GetNearby(ref Ray ray, float maxDistance, System.Collections.Generic.List<T> result)
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{
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// Does the ray hit this node at all?
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// Note: Expanding the bounds is not exactly the same as a real distance check, but it's fast.
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bounds.Expand(new Vector3(maxDistance * 2, maxDistance * 2, maxDistance * 2));
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bool intersected = bounds.IntersectRay(ray);
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bounds.size = actualBoundsSize;
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if (!intersected)
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{
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return;
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}
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// Check against any objects in this node
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for (int i = 0; i < objects.Count; i++)
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{
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if (SqrDistanceToRay(ray, objects[i].Pos) <= (maxDistance * maxDistance))
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{
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result.Add(objects[i].Obj);
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}
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}
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// Check children
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if (children != null)
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{
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for (int i = 0; i < 8; i++)
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{
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children[i].GetNearby(ref ray, maxDistance, result);
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}
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}
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}
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/// <summary>
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/// Return objects that are within <paramref name="maxDistance"/> of the specified position.
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/// </summary>
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/// <param name="position">The position.</param>
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/// <param name="maxDistance">Maximum distance from the position to consider.</param>
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/// <param name="result">List result.</param>
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/// <returns>Objects within range.</returns>
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public void GetNearby(ref Vector3 position, float maxDistance, System.Collections.Generic.List<T> result)
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{
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float sqrMaxDistance = maxDistance * maxDistance;
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// Does the node intersect with the sphere of center = position and radius = maxDistance?
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if ((bounds.ClosestPoint(position) - position).sqrMagnitude > sqrMaxDistance)
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{
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return;
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}
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// Check against any objects in this node
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for (int i = 0; i < objects.Count; i++)
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{
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if ((position - objects[i].Pos).sqrMagnitude <= sqrMaxDistance)
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{
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result.Add(objects[i].Obj);
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}
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}
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// Check children
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if (children != null)
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{
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for (int i = 0; i < 8; i++)
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{
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children[i].GetNearby(ref position, maxDistance, result);
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}
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}
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}
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/// <summary>
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/// Return all objects in the tree.
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/// </summary>
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/// <returns>All objects.</returns>
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public void GetAll(System.Collections.Generic.List<T> result)
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{
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// add directly contained objects
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result.AddRange(objects.Select(o => o.Obj));
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// add children objects
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if (children != null)
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{
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for (int i = 0; i < 8; i++)
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{
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children[i].GetAll(result);
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}
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}
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}
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/// <summary>
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/// Set the 8 children of this octree.
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/// </summary>
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/// <param name="childOctrees">The 8 new child nodes.</param>
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public void SetChildren(PointOctreeNode<T>[] childOctrees)
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{
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if (childOctrees.Length != 8)
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{
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Debug.LogError("Child octree array must be length 8. Was length: " + childOctrees.Length);
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return;
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}
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children = childOctrees;
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}
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/// <summary>
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/// We can shrink the octree if:
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/// - This node is >= double minLength in length
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/// - All objects in the root node are within one octant
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/// - This node doesn't have children, or does but 7/8 children are empty
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/// We can also shrink it if there are no objects left at all!
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/// </summary>
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/// <param name="minLength">Minimum dimensions of a node in this octree.</param>
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/// <returns>The new root, or the existing one if we didn't shrink.</returns>
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public PointOctreeNode<T> ShrinkIfPossible(float minLength)
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{
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if (SideLength < (2 * minLength))
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{
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return this;
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}
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if (objects.Count == 0 && (children == null || children.Length == 0))
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{
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return this;
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}
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// Check objects in root
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int bestFit = -1;
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for (int i = 0; i < objects.Count; i++)
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{
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OctreeObject curObj = objects[i];
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int newBestFit = BestFitChild(curObj.Pos);
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if (i == 0 || newBestFit == bestFit)
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{
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if (bestFit < 0)
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{
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bestFit = newBestFit;
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}
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}
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else
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{
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return this; // Can't reduce - objects fit in different octants
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}
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}
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// Check objects in children if there are any
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if (children != null)
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{
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bool childHadContent = false;
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for (int i = 0; i < children.Length; i++)
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{
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if (children[i].HasAnyObjects())
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{
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if (childHadContent)
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{
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return this; // Can't shrink - another child had content already
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}
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if (bestFit >= 0 && bestFit != i)
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{
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return this; // Can't reduce - objects in root are in a different octant to objects in child
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}
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childHadContent = true;
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bestFit = i;
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}
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}
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}
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// Can reduce
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if (children == null)
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{
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// We don't have any children, so just shrink this node to the new size
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// We already know that everything will still fit in it
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SetValues(SideLength / 2, minSize, childBounds[bestFit].center);
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return this;
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}
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// We have children. Use the appropriate child as the new root node
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return children[bestFit];
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}
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/// <summary>
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/// Find which child node this object would be most likely to fit in.
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/// </summary>
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/// <param name="objPos">The object's position.</param>
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/// <returns>One of the eight child octants.</returns>
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public int BestFitChild(Vector3 objPos)
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{
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return (objPos.x <= Center.x ? 0 : 1) + (objPos.y >= Center.y ? 0 : 4) + (objPos.z <= Center.z ? 0 : 2);
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}
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/// <summary>
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/// Checks if this node or anything below it has something in it.
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/// </summary>
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/// <returns>True if this node or any of its children, grandchildren etc have something in them</returns>
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public bool HasAnyObjects()
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{
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if (objects.Count > 0) return true;
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if (children != null)
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{
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for (int i = 0; i < 8; i++)
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{
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if (children[i].HasAnyObjects()) return true;
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}
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}
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return false;
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}
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// #### PRIVATE METHODS ####
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/// <summary>
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/// Set values for this node.
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/// </summary>
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/// <param name="baseLengthVal">Length of this node, not taking looseness into account.</param>
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/// <param name="minSizeVal">Minimum size of nodes in this octree.</param>
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/// <param name="centerVal">Centre position of this node.</param>
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void SetValues(float baseLengthVal, float minSizeVal, Vector3 centerVal)
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{
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SideLength = baseLengthVal;
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minSize = minSizeVal;
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Center = centerVal;
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// Create the bounding box.
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actualBoundsSize = new Vector3(SideLength, SideLength, SideLength);
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bounds = new Bounds(Center, actualBoundsSize);
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float quarter = SideLength / 4f;
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float childActualLength = SideLength / 2;
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Vector3 childActualSize = new Vector3(childActualLength, childActualLength, childActualLength);
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childBounds = new Bounds[8];
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childBounds[0] = new Bounds(Center + new Vector3(-quarter, quarter, -quarter), childActualSize);
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childBounds[1] = new Bounds(Center + new Vector3(quarter, quarter, -quarter), childActualSize);
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childBounds[2] = new Bounds(Center + new Vector3(-quarter, quarter, quarter), childActualSize);
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childBounds[3] = new Bounds(Center + new Vector3(quarter, quarter, quarter), childActualSize);
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childBounds[4] = new Bounds(Center + new Vector3(-quarter, -quarter, -quarter), childActualSize);
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childBounds[5] = new Bounds(Center + new Vector3(quarter, -quarter, -quarter), childActualSize);
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childBounds[6] = new Bounds(Center + new Vector3(-quarter, -quarter, quarter), childActualSize);
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childBounds[7] = new Bounds(Center + new Vector3(quarter, -quarter, quarter), childActualSize);
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}
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/// <summary>
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/// Private counterpart to the public Add method.
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/// </summary>
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/// <param name="obj">Object to add.</param>
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/// <param name="objPos">Position of the object.</param>
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void SubAdd(T obj, Vector3 objPos)
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{
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// We know it fits at this level if we've got this far
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// We always put things in the deepest possible child
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// So we can skip checks and simply move down if there are children aleady
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if (!HasChildren)
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{
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// Just add if few objects are here, or children would be below min size
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if (objects.Count < NUM_OBJECTS_ALLOWED || (SideLength / 2) < minSize)
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{
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OctreeObject newObj = new OctreeObject { Obj = obj, Pos = objPos };
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objects.Add(newObj);
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return; // We're done. No children yet
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}
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// Enough objects in this node already: Create the 8 children
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int bestFitChild;
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if (children == null)
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{
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Split();
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if (children == null)
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{
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Debug.LogError("Child creation failed for an unknown reason. Early exit.");
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return;
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}
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// Now that we have the new children, move this node's existing objects into them
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for (int i = objects.Count - 1; i >= 0; i--)
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{
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OctreeObject existingObj = objects[i];
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// Find which child the object is closest to based on where the
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// object's center is located in relation to the octree's center
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bestFitChild = BestFitChild(existingObj.Pos);
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children[bestFitChild].SubAdd(existingObj.Obj, existingObj.Pos); // Go a level deeper
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objects.Remove(existingObj); // Remove from here
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}
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}
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}
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// Handle the new object we're adding now
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int bestFit = BestFitChild(objPos);
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children[bestFit].SubAdd(obj, objPos);
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}
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/// <summary>
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/// Private counterpart to the public <see cref="Remove(T, Vector3)"/> method.
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/// </summary>
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/// <param name="obj">Object to remove.</param>
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/// <param name="objPos">Position of the object.</param>
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/// <returns>True if the object was removed successfully.</returns>
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bool SubRemove(T obj, Vector3 objPos)
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{
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bool removed = false;
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for (int i = 0; i < objects.Count; i++)
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{
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if (objects[i].Obj.Equals(obj))
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{
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removed = objects.Remove(objects[i]);
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break;
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}
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}
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if (!removed && children != null)
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{
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int bestFitChild = BestFitChild(objPos);
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removed = children[bestFitChild].SubRemove(obj, objPos);
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}
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if (removed && children != null)
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{
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// Check if we should merge nodes now that we've removed an item
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if (ShouldMerge())
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{
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Merge();
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}
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}
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return removed;
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}
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/// <summary>
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/// Splits the octree into eight children.
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/// </summary>
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void Split()
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{
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float quarter = SideLength / 4f;
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float newLength = SideLength / 2;
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children = new PointOctreeNode<T>[8];
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children[0] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(-quarter, quarter, -quarter));
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children[1] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(quarter, quarter, -quarter));
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children[2] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(-quarter, quarter, quarter));
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children[3] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(quarter, quarter, quarter));
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children[4] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(-quarter, -quarter, -quarter));
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children[5] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(quarter, -quarter, -quarter));
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children[6] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(-quarter, -quarter, quarter));
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children[7] = new PointOctreeNode<T>(newLength, minSize, Center + new Vector3(quarter, -quarter, quarter));
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}
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/// <summary>
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/// Merge all children into this node - the opposite of Split.
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/// Note: We only have to check one level down since a merge will never happen if the children already have children,
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/// since THAT won't happen unless there are already too many objects to merge.
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/// </summary>
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void Merge()
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{
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// Note: We know children != null or we wouldn't be merging
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for (int i = 0; i < 8; i++)
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{
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PointOctreeNode<T> curChild = children[i];
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int numObjects = curChild.objects.Count;
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for (int j = numObjects - 1; j >= 0; j--)
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{
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OctreeObject curObj = curChild.objects[j];
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objects.Add(curObj);
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}
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}
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// Remove the child nodes (and the objects in them - they've been added elsewhere now)
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children = null;
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}
|
|
|
|
/// <summary>
|
|
/// Checks if outerBounds encapsulates the given point.
|
|
/// </summary>
|
|
/// <param name="outerBounds">Outer bounds.</param>
|
|
/// <param name="point">Point.</param>
|
|
/// <returns>True if innerBounds is fully encapsulated by outerBounds.</returns>
|
|
static bool Encapsulates(Bounds outerBounds, Vector3 point)
|
|
{
|
|
return outerBounds.Contains(point);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Checks if there are few enough objects in this node and its children that the children should all be merged into this.
|
|
/// </summary>
|
|
/// <returns>True there are less or the same abount of objects in this and its children than numObjectsAllowed.</returns>
|
|
bool ShouldMerge()
|
|
{
|
|
int totalObjects = objects.Count;
|
|
if (children != null)
|
|
{
|
|
foreach (PointOctreeNode<T> child in children)
|
|
{
|
|
if (child.children != null)
|
|
{
|
|
// If any of the *children* have children, there are definitely too many to merge,
|
|
// or the child woudl have been merged already
|
|
return false;
|
|
}
|
|
totalObjects += child.objects.Count;
|
|
}
|
|
}
|
|
return totalObjects <= NUM_OBJECTS_ALLOWED;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns the closest distance to the given ray from a point.
|
|
/// </summary>
|
|
/// <param name="ray">The ray.</param>
|
|
/// <param name="point">The point to check distance from the ray.</param>
|
|
/// <returns>Squared distance from the point to the closest point of the ray.</returns>
|
|
public static float SqrDistanceToRay(Ray ray, Vector3 point)
|
|
{
|
|
return Vector3.Cross(ray.direction, point - ray.origin).sqrMagnitude;
|
|
}
|
|
}
|
|
|
|
// A Dynamic Octree for storing any objects that can be described as a single point
|
|
// See also: BoundsOctree, where objects are described by AABB bounds
|
|
// Octree: An octree is a tree data structure which divides 3D space into smaller partitions (nodes)
|
|
// and places objects into the appropriate nodes. This allows fast access to objects
|
|
// in an area of interest without having to check every object.
|
|
// Dynamic: The octree grows or shrinks as required when objects as added or removed
|
|
// It also splits and merges nodes as appropriate. There is no maximum depth.
|
|
// Nodes have a constant - numObjectsAllowed - which sets the amount of items allowed in a node before it splits.
|
|
// T: The content of the octree can be anything, since the bounds data is supplied separately.
|
|
public class PointOctree<T>
|
|
{
|
|
// The total amount of objects currently in the tree
|
|
public int Count { get; private set; }
|
|
|
|
// Root node of the octree
|
|
PointOctreeNode<T> rootNode;
|
|
|
|
// Size that the octree was on creation
|
|
readonly float initialSize;
|
|
|
|
// Minimum side length that a node can be - essentially an alternative to having a max depth
|
|
readonly float minSize;
|
|
|
|
private System.Collections.Generic.List<int> _allObjectIds = new System.Collections.Generic.List<int>();
|
|
public bool Contains(int objId) => _allObjectIds.Contains(objId);
|
|
|
|
/// <summary>
|
|
/// Constructor for the point octree.
|
|
/// </summary>
|
|
/// <param name="initialWorldSize">Size of the sides of the initial node. The octree will never shrink smaller than this.</param>
|
|
/// <param name="initialWorldPos">Position of the centre of the initial node.</param>
|
|
/// <param name="minNodeSize">Nodes will stop splitting if the new nodes would be smaller than this.</param>
|
|
public PointOctree(float initialWorldSize, Vector3 initialWorldPos, float minNodeSize)
|
|
{
|
|
if (minNodeSize > initialWorldSize)
|
|
{
|
|
Debug.LogWarning("Minimum node size must be at least as big as the initial world size. Was: " + minNodeSize + " Adjusted to: " + initialWorldSize);
|
|
minNodeSize = initialWorldSize;
|
|
}
|
|
Count = 0;
|
|
initialSize = initialWorldSize;
|
|
minSize = minNodeSize;
|
|
rootNode = new PointOctreeNode<T>(initialSize, minSize, initialWorldPos);
|
|
}
|
|
|
|
// #### PUBLIC METHODS ####
|
|
|
|
/// <summary>
|
|
/// Add an object.
|
|
/// </summary>
|
|
/// <param name="obj">Object to add.</param>
|
|
/// <param name="objPos">Position of the object.</param>
|
|
public void Add(T obj, Vector3 objPos)
|
|
{
|
|
if (obj is GameObject)
|
|
{
|
|
var gameObj = obj as GameObject;
|
|
var allChildren = gameObj.GetComponentsInChildren<Transform>();
|
|
foreach (var child in allChildren)
|
|
{
|
|
if (!_allObjectIds.Contains(child.gameObject.GetInstanceID())) _allObjectIds.Add(child.gameObject.GetInstanceID());
|
|
}
|
|
}
|
|
// Add object or expand the octree until it can be added
|
|
int count = 0; // Safety check against infinite/excessive growth
|
|
while (!rootNode.Add(obj, objPos))
|
|
{
|
|
Grow(objPos - rootNode.Center);
|
|
if (++count > 20)
|
|
{
|
|
Debug.LogError("Aborted Add operation as it seemed to be going on forever (" + (count - 1) + ") attempts at growing the octree.");
|
|
return;
|
|
}
|
|
}
|
|
Count++;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Remove an object. Makes the assumption that the object only exists once in the tree.
|
|
/// </summary>
|
|
/// <param name="obj">Object to remove.</param>
|
|
/// <returns>True if the object was removed successfully.</returns>
|
|
public bool Remove(T obj)
|
|
{
|
|
bool removed = rootNode.Remove(obj);
|
|
|
|
// See if we can shrink the octree down now that we've removed the item
|
|
if (removed)
|
|
{
|
|
Count--;
|
|
Shrink();
|
|
}
|
|
|
|
return removed;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Removes the specified object at the given position. Makes the assumption that the object only exists once in the tree.
|
|
/// </summary>
|
|
/// <param name="obj">Object to remove.</param>
|
|
/// <param name="objPos">Position of the object.</param>
|
|
/// <returns>True if the object was removed successfully.</returns>
|
|
public bool Remove(T obj, Vector3 objPos)
|
|
{
|
|
bool removed = rootNode.Remove(obj, objPos);
|
|
|
|
// See if we can shrink the octree down now that we've removed the item
|
|
if (removed)
|
|
{
|
|
Count--;
|
|
Shrink();
|
|
}
|
|
|
|
return removed;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns objects that are within <paramref name="maxDistance"/> of the specified ray.
|
|
/// If none, returns false. Uses supplied list for results.
|
|
/// </summary>
|
|
/// <param name="ray">The ray. Passing as ref to improve performance since it won't have to be copied.</param>
|
|
/// <param name="maxDistance">Maximum distance from the ray to consider</param>
|
|
/// <param name="nearBy">Pre-initialized list to populate</param>
|
|
/// <returns>True if items are found, false if not</returns>
|
|
public bool GetNearbyNonAlloc(Ray ray, float maxDistance, System.Collections.Generic.List<T> nearBy)
|
|
{
|
|
nearBy.Clear();
|
|
rootNode.GetNearby(ref ray, maxDistance, nearBy);
|
|
if (nearBy.Count > 0)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns objects that are within <paramref name="maxDistance"/> of the specified ray.
|
|
/// If none, returns an empty array (not null).
|
|
/// </summary>
|
|
/// <param name="ray">The ray. Passing as ref to improve performance since it won't have to be copied.</param>
|
|
/// <param name="maxDistance">Maximum distance from the ray to consider.</param>
|
|
/// <returns>Objects within range.</returns>
|
|
public T[] GetNearby(Ray ray, float maxDistance)
|
|
{
|
|
var collidingWith = new System.Collections.Generic.List<T>();
|
|
rootNode.GetNearby(ref ray, maxDistance, collidingWith);
|
|
return collidingWith.ToArray();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns objects that are within <paramref name="maxDistance"/> of the specified position.
|
|
/// If none, returns an empty array (not null).
|
|
/// </summary>
|
|
/// <param name="position">The position. Passing as ref to improve performance since it won't have to be copied.</param>
|
|
/// <param name="maxDistance">Maximum distance from the position to consider.</param>
|
|
/// <returns>Objects within range.</returns>
|
|
public T[] GetNearby(Vector3 position, float maxDistance)
|
|
{
|
|
var collidingWith = new System.Collections.Generic.List<T>();
|
|
rootNode.GetNearby(ref position, maxDistance, collidingWith);
|
|
return collidingWith.ToArray();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns objects that are within <paramref name="maxDistance"/> of the specified position.
|
|
/// If none, returns false. Uses supplied list for results.
|
|
/// </summary>
|
|
/// <param name="maxDistance">Maximum distance from the position to consider</param>
|
|
/// <param name="nearBy">Pre-initialized list to populate</param>
|
|
/// <returns>True if items are found, false if not</returns>
|
|
public bool GetNearbyNonAlloc(Vector3 position, float maxDistance, System.Collections.Generic.List<T> nearBy)
|
|
{
|
|
nearBy.Clear();
|
|
rootNode.GetNearby(ref position, maxDistance, nearBy);
|
|
if (nearBy.Count > 0)
|
|
return true;
|
|
return false;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Return all objects in the tree.
|
|
/// If none, returns an empty array (not null).
|
|
/// </summary>
|
|
/// <returns>All objects.</returns>
|
|
public System.Collections.Generic.ICollection<T> GetAll()
|
|
{
|
|
var objects = new System.Collections.Generic.List<T>(Count);
|
|
rootNode.GetAll(objects);
|
|
return objects;
|
|
}
|
|
|
|
// #### PRIVATE METHODS ####
|
|
|
|
/// <summary>
|
|
/// Grow the octree to fit in all objects.
|
|
/// </summary>
|
|
/// <param name="direction">Direction to grow.</param>
|
|
void Grow(Vector3 direction)
|
|
{
|
|
int xDirection = direction.x >= 0 ? 1 : -1;
|
|
int yDirection = direction.y >= 0 ? 1 : -1;
|
|
int zDirection = direction.z >= 0 ? 1 : -1;
|
|
PointOctreeNode<T> oldRoot = rootNode;
|
|
float half = rootNode.SideLength / 2;
|
|
float newLength = rootNode.SideLength * 2;
|
|
Vector3 newCenter = rootNode.Center + new Vector3(xDirection * half, yDirection * half, zDirection * half);
|
|
|
|
// Create a new, bigger octree root node
|
|
rootNode = new PointOctreeNode<T>(newLength, minSize, newCenter);
|
|
|
|
if (oldRoot.HasAnyObjects())
|
|
{
|
|
// Create 7 new octree children to go with the old root as children of the new root
|
|
int rootPos = rootNode.BestFitChild(oldRoot.Center);
|
|
PointOctreeNode<T>[] children = new PointOctreeNode<T>[8];
|
|
for (int i = 0; i < 8; i++)
|
|
{
|
|
if (i == rootPos)
|
|
{
|
|
children[i] = oldRoot;
|
|
}
|
|
else
|
|
{
|
|
xDirection = i % 2 == 0 ? -1 : 1;
|
|
yDirection = i > 3 ? -1 : 1;
|
|
zDirection = (i < 2 || (i > 3 && i < 6)) ? -1 : 1;
|
|
children[i] = new PointOctreeNode<T>(oldRoot.SideLength, minSize, newCenter + new Vector3(xDirection * half, yDirection * half, zDirection * half));
|
|
}
|
|
}
|
|
|
|
// Attach the new children to the new root node
|
|
rootNode.SetChildren(children);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Shrink the octree if possible, else leave it the same.
|
|
/// </summary>
|
|
void Shrink()
|
|
{
|
|
rootNode = rootNode.ShrinkIfPossible(initialSize);
|
|
}
|
|
}
|
|
} |